[wpilib] Remove GyroBase

wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h

@@ -8,8 +8,11 @@
 
 #include <hal/SimDevice.h>
 
-#include "frc/GyroBase.h"
+#include "frc/ErrorBase.h"
 #include "frc/SPI.h"
+#include "frc/interfaces/Gyro.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -26,7 +29,10 @@ namespace frc {
  * This class is for the digital ADXRS450 gyro sensor that connects via SPI.
  * Only one instance of an ADXRS Gyro is supported.
  */
-class ADXRS450_Gyro : public GyroBase {
+class ADXRS450_Gyro : public Gyro,
+                      public ErrorBase,
+                      public Sendable,
+                      public SendableHelper<ADXRS450_Gyro> {
  public:
   /**
    * Gyro constructor on onboard CS0.
@@ -96,6 +102,8 @@ class ADXRS450_Gyro : public GyroBase {
    */
   int GetPort() const;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   SPI m_spi;
   SPI::Port m_port;

wpilibc/src/main/native/include/frc/AnalogGyro.h

@@ -8,7 +8,8 @@
 
 #include <hal/Types.h>
 
-#include "frc/GyroBase.h"
+#include "frc/ErrorBase.h"
+#include "frc/interfaces/Gyro.h"
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
 
@@ -29,7 +30,10 @@ class AnalogInput;
  *
  * This class is for gyro sensors that connect to an analog input.
  */
-class AnalogGyro : public GyroBase {
+class AnalogGyro : public Gyro,
+                   public ErrorBase,
+                   public Sendable,
+                   public SendableHelper<AnalogGyro> {
  public:
   static constexpr int kOversampleBits = 10;
   static constexpr int kAverageBits = 0;
@@ -190,6 +194,8 @@ class AnalogGyro : public GyroBase {
    */
   std::shared_ptr<AnalogInput> GetAnalogInput() const;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  protected:
   std::shared_ptr<AnalogInput> m_analog;
 

wpilibc/src/main/native/include/frc/GyroBase.h

@@ -1,30 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include "frc/ErrorBase.h"
-#include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
-
-namespace frc {
-
-/**
- * GyroBase is the common base class for Gyro implementations such as
- * AnalogGyro.
- */
-class GyroBase : public Gyro,
-                 public ErrorBase,
-                 public Sendable,
-                 public SendableHelper<GyroBase> {
- public:
-  GyroBase() = default;
-  GyroBase(GyroBase&&) = default;
-  GyroBase& operator=(GyroBase&&) = default;
-
-  void InitSendable(SendableBuilder& builder) override;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/romi/RomiGyro.h

@@ -6,7 +6,10 @@
 
 #include <hal/SimDevice.h>
 
-#include "frc/GyroBase.h"
+#include "frc/ErrorBase.h"
+#include "frc/interfaces/Gyro.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -16,7 +19,10 @@ namespace frc {
  * This class is for the Romi onboard gyro, and will only work in
  * simulation/Romi mode. Only one instance of a RomiGyro is supported.
  */
-class RomiGyro : public GyroBase {
+class RomiGyro : public Gyro,
+                 public ErrorBase,
+                 public Sendable,
+                 public SendableHelper<RomiGyro> {
  public:
   RomiGyro();
 
@@ -84,6 +90,8 @@ class RomiGyro : public GyroBase {
    */
   void Reset() override;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   hal::SimDevice m_simDevice;
   hal::SimDouble m_simRateX;